3-D Coordinate Vector Transformation

Date: 8/27/96 at 1:37:56
From: Anonymous
Subject: 3-D Coordinate Vector Transformation
What is the approach to take for transforming one coordinate system to
another where it isn't just a translation transformation but also
rotations and even reflections? The general case is where one would
have two coordinate systems, each defined by its origin, and three
orthogonal vectors defining x,y,z axes.